A lot of embedded debugging is either using a debugger (if you're lucky) or using various side-channels to infer the state of the machine. For example, you could make a task toggle a pin on the device and hook it up to a scope to figure out if it's being scheduled properly.
If you're interested in electronics, embedded.fm and theamphour.com are both fantastic podcasts.
If you're interested in electronics, embedded.fm and theamphour.com are both fantastic podcasts.